Over the past decade, diseases related to vascular problems, particularly occlusive thrombus in veins or arteries, have increased dramatically. This type of blood clot causes partial or complete blockage of circulation in the patient’s body, leading to pain or possibly death. Thrombosis treatment ty...
Over the past decade, diseases related to vascular problems, particularly occlusive thrombus in veins or arteries, have increased dramatically. This type of blood clot causes partial or complete blockage of circulation in the patient’s body, leading to pain or possibly death. Thrombosis treatment typically involves the use of medication and intervention using guide wires and catheters, however, these techniques have some limitations. As a promising method for thrombosis treatment in blood vessels, controllable wireless microrobot (CWM) systems that can move within blood vessels and penetrate occlusive blood clots have been proposed. A CWM system consists of a bullet-shaped microrobot, a stereo vision imaging device, and an Electromagnetic Actuation (EMA) system, where the microrobot is controlled by the magnetic field generated by the EMA system and observed using stereo vision device. Due to the size and vulnerability of blood vessels, precise control with feedback information is critically important in thrombosis treatment. There have been several studies on the reconstruction of position and orientation of microrobots in space. However, real-time tracking of the microrobot’s position and orientation remains a challenge in precise thrombosis surgery applying microrobots. In order to reduce the damage of the blood vessel, we present the close loop controllable microrobot algorithm using Electromagnetic Actuation system. In the scope of this thesis, spatial position as well as orientation of the microrobot is reconstructed in 3D space from two 2D images with critically high accuracy. The further application of this 3D reconstruction algorithm is also apply into the reconstruction of the needle shape, which is also crucially important in medical surgery field. To verify the accuracy of 3D reconstruction as well as control algorithm, we compared the position and orientation of reconstructed information from stereo vision tracking with the ground truth (planned pathline) and using Mean Square Error (MSE) to evaluate the results. At last, we confirmed that, with high accuracy reconstructed position and orientation of microrobot, the 3D reconstruction and control algorithm can be used in practical surgery.
Over the past decade, diseases related to vascular problems, particularly occlusive thrombus in veins or arteries, have increased dramatically. This type of blood clot causes partial or complete blockage of circulation in the patient’s body, leading to pain or possibly death. Thrombosis treatment typically involves the use of medication and intervention using guide wires and catheters, however, these techniques have some limitations. As a promising method for thrombosis treatment in blood vessels, controllable wireless microrobot (CWM) systems that can move within blood vessels and penetrate occlusive blood clots have been proposed. A CWM system consists of a bullet-shaped microrobot, a stereo vision imaging device, and an Electromagnetic Actuation (EMA) system, where the microrobot is controlled by the magnetic field generated by the EMA system and observed using stereo vision device. Due to the size and vulnerability of blood vessels, precise control with feedback information is critically important in thrombosis treatment. There have been several studies on the reconstruction of position and orientation of microrobots in space. However, real-time tracking of the microrobot’s position and orientation remains a challenge in precise thrombosis surgery applying microrobots. In order to reduce the damage of the blood vessel, we present the close loop controllable microrobot algorithm using Electromagnetic Actuation system. In the scope of this thesis, spatial position as well as orientation of the microrobot is reconstructed in 3D space from two 2D images with critically high accuracy. The further application of this 3D reconstruction algorithm is also apply into the reconstruction of the needle shape, which is also crucially important in medical surgery field. To verify the accuracy of 3D reconstruction as well as control algorithm, we compared the position and orientation of reconstructed information from stereo vision tracking with the ground truth (planned pathline) and using Mean Square Error (MSE) to evaluate the results. At last, we confirmed that, with high accuracy reconstructed position and orientation of microrobot, the 3D reconstruction and control algorithm can be used in practical surgery.
주제어
#Medical Microrobot Navigation Image Processing Control Tracking
학위논문 정보
저자
누엔 푸 바오
학위수여기관
전남대학교
학위구분
국내석사
학과
기계공학과 Image Processing and Control
지도교수
박종오
발행연도
2018
총페이지
83
키워드
Medical Microrobot Navigation Image Processing Control Tracking
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